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• W2079239145 abstract "The two leading control algorithms for in-vitro spine biomechanical testing-load control and displacement control-are limited in their lack of adaptation to changes in the load-displacement response of a spine specimen-pointing to the need for sufficiently sophisticated control algorithms that are able to govern the application of loads/motions to a spine specimen in a more realistic, adaptive manner. A robotics-based spine testing system was programmed with a novel hybrid control algorithm combining load control and displacement control into a single, robust algorithm. Prior to in-vitro cadaveric testing, preliminary testing of the new algorithm was performed using a rigid-body-spring model with known structural properties. The present study also offers a direct comparison between hybrid control and displacement control. The hybrid control algorithm enabled the robotics-based spine testing system to apply pure moments to an FSU (in flexion/extension, lateral bending, or axial rotation) in an unconstrained manner through active control of secondary translational/rotational degrees-of-freedom-successfully minimizing coupled forces/moments. The characteristic nonlinear S-shaped curves of the primary moment-rotation responses were consistent with previous reports of the FSU having a region of low stiffness (neutral zone) bounded by regions of increasing stiffness (elastic zone). Direct comparison of displacement control and hybrid control showed that hybrid control was able to actively minimize off-axis forces and resulted in larger neutral zone and range of motion." @default.
• W2079239145 created "2016-06-24" @default.
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• W2079239145 date "2013-06-01" @default.
• W2079239145 modified "2023-09-26" @default.
• W2079239145 title "In vitro spine testing using a robot-based testing system: Comparison of displacement control and “hybrid control”" @default.
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• W2079239145 doi "https://doi.org/10.1016/j.jbiomech.2013.04.007" @default.
• W2079239145 hasPubMedCentralId "https://www.ncbi.nlm.nih.gov/pmc/articles/3718291" @default.
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